Task-based compliance planning for multi-fingered robotic manipulations

Abstract

Based on the analysis of the stiffness relation between the operational space and the fingertip space of multi-fingered hands, this paper provides a guideline of task-based compliance planning for multi-fingered robotic manipulations. In order to show the characteristics of the taskbased stiffness matrix, various two- and three-dimensional examples are illustrated. Also, it is shown that some of the coupling stiffness elements cannot be planned arbitrarily due to grasping geometry. Through the analytical results, it is concluded that the operational stiffness matrix should be carefully specified by considering the location of the compliance center and the grasp geometry of multifingered hands for successful grasping and manipulation tasks.